import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch.actions import (DeclareLaunchArgument, GroupAction,
                            IncludeLaunchDescription, SetEnvironmentVariable)
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PythonExpression,PathJoinSubstitution,ThisLaunchFileDir
from launch_ros.actions import PushRosNamespace
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():
  return LaunchDescription([

    IncludeLaunchDescription(
      PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('linefit_ground_segmentation_ros'),'launch','segmentation.launch.py'))
    ),
     IncludeLaunchDescription(
      PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('pointcloud_to_laserscan'),'launch','pointcloud_to_laserscan_launch.py'))
    ),
    IncludeLaunchDescription(
      PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('pointcloud_filter'),'launch','hnurm_pointcloud_filter.launch.py'))
    ),

  ])
